void BH280::LoopOfflineExample()
{
/* *****************************
hand thread
***************************** */
Begin(VEL_CONTROL);
double T=0.0;
gettimeofday(&lc, NULL);
while (shouldRun)
{
gettimeofday(&now, NULL);
T+=diffclock(&now,&lc);
ReadFromHand();
double f=0.2;//Hz
double value = 0.8*PI/3 + (PI/4*sin( f* T*2*PI));
if(!pps)
{
int m=1;
Cons.cValues[m]=value;
int temp=(int)((PositionControlC(m) * props.scaleIN[m])+0.5);
result=bh.RTSetVelocity(m + '1', temp);
m=0;
Cons.cValues[m]=value;
temp=(int)((PositionControl(m) * props.scaleIN[m])+0.5);
result=bh.RTSetVelocity(m + '1', temp);
m=3;
Cons.cValues[m]=1;
temp=(int)((PositionControl(m) * props.scaleIN[m])+0.5);
result=bh.RTSetVelocity(m + '1', temp);
}
bh.RTUpdate();
RememberData();
}
bh.RTAbort();
result = bh.Command("t");
cout<<"Terminating thread bh280\n";
}
CSHInPlaceEdit* CSHListCtrl::ShowInPlaceEdit(int nItem, int nSubitem,DWORD dwStyle)
{
CSHInPlaceEdit* pListEdit = new CSHInPlaceEdit(nItem, nSubitem);
// Start with a small rectangle. We'll change it later.
CRect rect(0,0,1,1);
dwStyle |= ES_LEFT | WS_BORDER | WS_CHILD | WS_VISIBLE |
ES_MULTILINE | ES_AUTOVSCROLL | ES_AUTOHSCROLL;
pListEdit->Create(dwStyle, rect, this, IDC_INPLACE_EDIT);
// Have the Grid position and size the custom edit control
PositionControl(pListEdit, nItem, nSubitem);
// Have the edit box size itself to its content.
pListEdit->CalculateSize();
CString sText = GetItemText(nItem, nSubitem);
pListEdit->SetWindowText(sText);
pListEdit->SetSel(0, -1);
// Return TRUE so that the list control will hnadle NOT edit label itself.
return pListEdit;
}
void MainInterrupt(void) //100Hz
{
MainInt_Time.EntranceT = SYS_TIME;
MainTntCounter++;
GetReceiverInfo();
MPU9250_GetData();
EstimateAttitude();
//MS5803_GetData();
//EstimateHeight();
PositionControl();
HeightControl();
Pidcontrol();
DealCommunication();
MainInt_Time.ExitT = SYS_TIME;
MainInt_Time.gap = MainInt_Time.ExitT - MainInt_Time.EntranceT;
// uint8_t test[2]={0x05,0x09};
// uint8_t test2[2]={0x01,0x08};
// for(;;)
// {
// AT25512_PageWrite(0x00000,test,4);
// LED1(OFF);
// Delay(0xFFFFF);
// AT25512_ReadData(0x00000,test2,4);
// USART_SendBuffer[0]=test2[1];
// USART2_DMA_SendData();
// LED1(OFF);
// Delay(0xFFFFF);
// }
}
CSHInPlaceEdit* CSHListCtrl::ShowInPlaceEditEx(int nItem, int nSubitem, DWORD dwStyle)
{
CSHInPlaceEdit* pEdit = new CSHInPlaceEdit(nItem, nSubitem);
CRect rect(0,0,1,1);
dwStyle |= ES_LEFT | WS_BORDER | WS_CHILD | WS_VISIBLE |
ES_AUTOHSCROLL;
pEdit->Create(dwStyle, rect, this, IDC_INPLACE_EDIT);
CSHInPlaceButton* pButton = new CSHInPlaceButton(nItem, nSubitem);
dwStyle = WS_CHILD | WS_VISIBLE;
pButton->Create("...", dwStyle, rect, this, IDC_INPLACE_BUTTON);
pEdit->SetButtonCtrl(pButton);
pButton->SetEditCtrl(pEdit);
//
if (!EnsureVisible(nItem, TRUE))
return NULL;
// Make sure that nCol is valid
CHeaderCtrl* pHeader = (CHeaderCtrl*)GetDlgItem(0);
int nColumnCount = pHeader->GetItemCount();
ASSERT(nSubitem >= 0 && nSubitem < nColumnCount);
if (nSubitem >= nColumnCount ||
// We have to take into account that the header may be reordered
GetColumnWidth(Header_OrderToIndex( pHeader->m_hWnd, nSubitem)) < 5)
{
return 0;
}
// Get the header order array to sum the column widths up to the selected cell.
int *orderarray = new int[nColumnCount];
Header_GetOrderArray(pHeader->m_hWnd, nColumnCount, orderarray);
int offset = 0;
int i;
for (i = 0; orderarray[i] != nSubitem; i++)
offset += GetColumnWidth(orderarray[i]);
int colwidth = GetColumnWidth(nSubitem);
delete[] orderarray;
GetItemRect(nItem, &rect, LVIR_BOUNDS);
// Scroll if we need to expose the column
CRect rcClient;
GetClientRect(&rcClient);
if (offset + rect.left < 0 || offset + colwidth + rect.left > rcClient.right)
{
CSize size;
size.cx = offset + rect.left;
size.cy = 0;
Scroll( size );
rect.left -= size.cx;
}
rect.left += offset + 4;
rect.right = rect.left + colwidth - 3;
// The right end of the control should not go past the edge
// of the grid control.
if (rect.right > rcClient.right)
rect.right = rcClient.right;
rect.bottom--;
CRect rcButton;
rcButton = rect;
rcButton.left = rcButton.right - rcButton.Height();
rect.right = rect.right - rect.Height();
pEdit->MoveWindow(&rect);
pButton->MoveWindow(&rcButton);
//
PositionControl(pEdit, nItem, nSubitem);
pEdit->CalculateSize();
pEdit->GetWindowRect( &rect );
rect.left = rect.right;
rect.right += rect.Height();
ScreenToClient( &rect );
pButton->MoveWindow(&rect);
CString sText = GetItemText(nItem, nSubitem);
pEdit->SetWindowText(sText);
pEdit->SetSel(0, -1);
return pEdit;
}
